CN102102625A - System and method for controlling a machine - Google Patents
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- CN102102625A CN102102625A CN2010106161884A CN201010616188A CN102102625A CN 102102625 A CN102102625 A CN 102102625A CN 2010106161884 A CN2010106161884 A CN 2010106161884A CN 201010616188 A CN201010616188 A CN 201010616188A CN 102102625 A CN102102625 A CN 102102625A
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- 238000003860 storage Methods 0.000 description 18
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/048—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators using a predictor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
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Abstract
A system for controlling a machine includes a first controller, a second controller, and a comparator. During a first cycle, the first controller generates a control signal to the machine while the second controller generates a predicted parameter signal. During the first cycle, the comparator transmits a feedback signal to the second controller if a predetermined threshold is not met. A method for controlling a machine includes transmitting a control signal from a first controller to the machine and generating a predicted parameter value in a second controller. The method further includes transmitting a feedback signal to the second controller if a predetermined threshold is not met.
Description
Technical field
The present invention involves the control system of machine substantially.Particularly, the present invention describes the controller that can use with for example machine such as generator or motor and makes it can be according to the operation of this machine of parameter adjustment of expectation.
Background technique
For example motor and generators and other machines typically comprise the various parameter control system that is used for adjusting machine.For example, motor can comprise torque or the controller of speed to prevent that this motor is overheated of adjusting this motor.Similarly, generator can comprise the controller of adjustment by the curtage of this generator generation.
Various circuit and method are known in the field that is used for controlling machine.For example, control system can be basically according to by sending control signal with the operation that changes machine and based on machine the trial-and-error method that the response of this control signal changes the amplitude of this control signal is operated then.For example, the controller of attempting the output voltage of rising generator can send initial control signal and regulate this initial control signal according to the variation of gained in the output voltage of generator then.Although simple in its methodology, this trial-and-error method mode typically needs more time reaching the desired operation level of machine, and it can cause excessively searching the operant level that is stabilized in expectation up to machine.
For fear of the inferior position of trial-and-error method, some control system can comprise the sequencing module (programming) or the circuit of the operation of simulating machine.Control system is visited this sequencing module or circuit to generate appropriate control signals, and it efficiently and accurately changes machine operation to produce the parameter value of expectation.In some cases, this sequencing module or circuit can be general for whole class machine, and in other cases, this sequencing module or circuit can be to the machines of each type or more particularly the individual machine in a class machine revised particularly.
The ability that control system accurately and is efficiently adjusted machine directly depends on the sequencing module or circuit is simulated the ability of the operation of particular machine exactly.For example, in the field of wind turbine generator, many different generator designs exist to be used to allowing electric power the best under the ambient conditions that changes to produce.Many differences (for example, the length of rotor blade, balance and pitch) are present between the various generator designs and even between the individual generator of each design.In addition, each being installed unique variable (for example, wind speed, barometric pressure and humidity) can change to change the performance of individual generator in time or between season.At last, the variation in the generator during life of generator (for example, friction, burn into changes in balance) can change the operating characteristics of generator.
Therefore there are needs to the improvement control system of machine.Ideally, this improved control system can comprise the operating characteristics model that can upgrade or regulate with the machine of reflection machine actual performance in time.
Summary of the invention
Aspect of the present invention and advantage will be set forth in following explanation, can be significantly from this explanation maybe, maybe can learn by practice of the present invention.
In one embodiment of the invention, the system that is used to control machine comprises input signal, first parameter signal and first controller.This input signal is passed on the desirable operational parameters of machine, and this first parameter signal is passed on the measurement parameter of the machine that obtains in the very first time.In first cycle period, this first controller receives this input signal and generates control signal to machine with this first parameter signal and based on this input signal and this first parameter signal.This system further comprises second controller, second parameter signal, feeder loop and comparator.In first cycle period, this second controller receives this first parameter signal and this control signal and based on the parameter signal of this first parameter signal and this control signal generation forecast.This second parameter signal is passed on the measurement parameter of the machine that obtains in second time, and this feeder loop receives the parameter signal of this second parameter signal and this prediction and generates feedback signal based on the parameter signal of this second parameter signal and this prediction.In first cycle period, if this comparator receives this feedback signal and predetermined threshold does not have to satisfy then transmit this to feed back signal to this second controller.
An alternative embodiment of the invention is the system that is used to control machine, and it comprises input signal, first parameter signal, controller and first model.This input signal is passed on the desirable operational parameters of machine, and this first parameter signal is passed on the measurement parameter of the machine that obtains in the very first time.This controller receives this input signal and generates demand signal with this first parameter signal and based on this input signal and this first parameter signal.In first cycle period, this first model receives this demand signal and generates response signal based on this demand signal, and this controller receives this response signal and generates control signal to machine based on this response signal.This system further comprises second model, second parameter signal, feeder loop and comparator.In first cycle period, this second model receives this first parameter signal and this control signal and based on the parameter signal of this first parameter signal and this control signal generation forecast.This second parameter signal is passed on the measurement parameter of the machine that obtains in second time, and this feeder loop receives the parameter signal of this second parameter signal and this prediction and generates feedback signal based on the parameter signal of this second parameter signal and this prediction.In first cycle period, if this comparator receives this feedback signal and predetermined threshold does not have to satisfy then transmit this to feed back signal to this second model.
An alternative embodiment of the invention comprises the method that is used to control machine.This method is included in very first time measurement parameter to determine first parameter value and relatively this first parameter value and expected value.In first circulation, this method comprise from first controller transmit a control signal to machine with change this first parameter value and in the second time measurement parameter to determine second parameter value.In first circulation, this method further is included in second controller based on the parameter value of this first parameter value and this control signal generation forecast and parameter value and this second parameter value of relatively this prediction.This method also comprises based on the parameter value of this prediction and this second parameter value and generates feedback signal, and if in this first circulation predetermined threshold do not satisfy then transmit this and feed back signal to this second controller.
Additional embodiments more of the present invention is the system that is used to control machine, and it comprises input signal, first parameter signal, first model and controller.This input signal is passed on the desirable operational parameters of machine, and this first parameter signal is passed on the measurement parameter of the machine that obtains in the very first time.In first cycle period, this first model receives this input signal and generates response signal with this first parameter signal and based on this input signal and this first parameter signal.This controller receives this response signal and generates control signal based on this response signal gives machine.This system further comprises second model, second parameter signal, feeder loop and comparator.In first cycle period, this second model receives this first parameter signal and this control signal and based on the parameter signal of this first parameter signal and this control signal generation forecast.This second parameter signal is passed on the measurement parameter of the machine that obtains in second time, and this feeder loop receives the parameter signal of this second parameter signal and this prediction and generates feedback signal based on the parameter signal of this second parameter signal and this prediction.In first cycle period, if this comparator receives this feedback signal and predetermined threshold does not have to satisfy then transmit this to feed back signal to this second model.
Those skilled in that art will recognize such embodiment's feature and aspect and other better when looking back this specification.
Description of drawings
The of the present invention of those skilled in that art more specifically set forth in the remainder of this specification and with reference to accompanying drawing with real used open (optimal mode that comprises it) fully, wherein:
Fig. 1 illustrates the simplified block diagram of control system according to an embodiment of the invention;
Fig. 2 is illustrated in the simplified block diagram that predetermined threshold satisfies back control system shown in Figure 1;
Fig. 3 illustrates the simplified block diagram of control system according to a second embodiment of the present invention;
Fig. 4 is illustrated in the simplified block diagram that predetermined threshold satisfies back control system shown in Figure 3;
Fig. 5 illustrates the simplified block diagram of the control system of a third embodiment in accordance with the invention; And
Fig. 6 is illustrated in the simplified block diagram that predetermined threshold satisfies back control system shown in Figure 5.
Embodiment
Now will be in detail with reference to present embodiment of the present invention, its one or more examples illustrate in the accompanying drawings.Describe in detail and use numeral and alphabetic flag to refer to feature in the drawings.Figure with the explanation in similar or similar mark be used in reference to similar or similar parts of the present invention.
Each example by explanation of the present invention but not restriction of the present invention provide.In fact, modifications and variations can be made in the present invention and not depart from scope of the present invention or spirit will be tangible for those skilled in that art.For example, the feature that illustrates or be described as an embodiment's part can be used to produce additional embodiments again on another embodiment.Thereby, being intended to the present invention and comprising such modifications and variations, they fall in the scope of the claim of enclosing and their equivalent.
Fig. 1 and 2 illustrates the simplified block diagram of control system 10 according to an embodiment of the invention.Fig. 1 illustrates the communication line in the first cycle period system 10, and Fig. 2 second after being illustrated in predetermined threshold and having satisfied or the communication line in the cycle period system 10 subsequently.Solid line deputy activity communication line in each figure, and the dotted line in each figure is represented inactive communication line.Although this embodiment illustrates in the context of wind turbine generator 12 and describes that those skilled in that art will understand and should will can be applicable to any generator, motor or other machines equally with notion, structure and the method for middle description.
As illustrated in fig. 1, system 10 comprises input device 14, first controller 16 and second controller 18.This input device 14 can comprise any structure that is used to provide the interface between user and the system 10.For example, this input device 14 can comprise keyboard, computer, terminal, tape drive and/or be used to receive from user's input and provide this to input to any other device of system 10.This input device 14 generates the input signal 20 of the desirable operational parameters of passing on wind turbine generator 12.Any measurable parameter that this operating parameter is generated by wind turbine generator 12, for example voltage, electric current, power or torque.
The the one 16 and the 2 18 controller can comprise for example various parts such as storage/medium element 22 and/or coprocessor 24, the subroutine that its storage data, store software commands and/or execution are called by corresponding controllers.These various storage/medium elements are the modification of one or more computer-readable mediums, any combination such as but not limited to volatile memory (for example RAM, DRAM, SRAM etc.), nonvolatile memory (for example flash drive, hard disk drive, tape, CD-ROM, DVD-ROM etc.) and/or other storage devices (for example, floppy disk, based on the storage medium of magnetic, optical storage medium etc.).Data and/or the software instruction of corresponding controllers accessible storage in associative storage/medium element.Any possible version of data storage and processor configuration will be recognized by those skilled in that art.
For example, first cycle period shown in Figure 1, first controller 16 receives from the input signal 20 of input device 14 with from first parameter signal 26 of wind turbine generator 12.This first parameter signal 26 is passed on the parameter of the measurement of the wind turbine generator 12 that obtains in the very first time, for example voltage or electric current etc.First controller, 16 addressable memories/medium element 22 or coprocessor 24 (as previously described) are to generate control signal 28 to wind turbine generator 12 based on the input signal 20 and first parameter signal 26.This control signal 28 conveys a message or instructs wind turbine generator 12 with operation that changes wind turbine generator 12 and the parameter value that changes measurement thus.For example, input signal 20 can be passed on 400 volts desired output voltage, and first parameter signal 26 can be indicated 398 volts the output voltage from wind turbine generator 12.Use is stored in data and/or the instruction in storage/medium element 22 and/or the coprocessor 24, first controller 16 can generate control signal 28 and give wind turbine generator 12, and its exciting field that changes wind turbine generator 12 is to be increased to 400 volts with output voltage from 398 volts.
First cycle period haply side by side, second controller 18 receives from first parameter signal 26 of wind turbine generator 12 with from the control signal 28 of first controller 16.Second controller, 18 addressable memories/medium element 22 or coprocessor 24 (as previously described) are with based on first parameter signal 26 and control signal 28 generation forecast parameter signals 30.The parameter signal 30 of this prediction is passed on the intended response of 12 pairs of control signals 28 of wind turbine generator.For example, if first parameter signal 26 is passed on 398 volts output voltage, and control signal 28 increase exciting fields 2 millivolts, second controller 18 is measurable in response to control signal 28, wind turbine generator 12 will produce 399 volts new output voltage (that is the parameter signal 30 of prediction).
Comprise further that in the system shown in Fig. 1 and 2 10 delay circuit 32, feeder loop 34 and comparator 36 feed back to the one 16 or the 2 18 controller to provide.This delay circuit 32, feeder loop 34 and comparator 36 can be arranged in the one 16 and/or the 2 18 controller and utilize at available Processing capacity and/or the storage/medium element of the one 16 and/or the 2 18 controller.Alternatively, this delay circuit 32, feeder loop 34 and/or comparator 36 can or include but not limited to that other circuit of special circuit realize by hardware logic.
If predetermined threshold satisfied in first cycle period, comparator 36 send signals 42 to switch 44 changing the one 16 and the 2 18 controller, as shown in figure 2 for second or with metacyclic operation.Second or cycle period subsequently, second controller, 18 receiving inputted signals 20 and first parameter signal 26 and generate control signals 28 based on input signal 20 and first parameter signal 26 and give wind turbine generator 12.Similarly, second or cycle period subsequently, first controller 16 receives first parameter signals 26 and control signal 28 (now from second controller 18) and based on the parameter signal 30 of first parameter signal 26 and control signal 28 generation forecasts.In second cycle period, comparator 36 transmits feedback signal 38 to first controllers 16 if predetermined threshold does not satisfy.
During operation, system 10 uses in the one 16 or the 2 18 controller one adjusting wind turbine generator 12, and another receiving feedback signals in the 2 18 or the 1 controller is accurately predicted the ability of wind turbine generator to the response of control signal 28 with the controller that becomes more meticulous.For example, in first cycle period, first controller, 16 receiving inputted signals 20 and first parameter signal 26 and generation control signal 28 make it equal input signal 20 to change first parameter for wind turbine generator 12.Haply side by side, second controller 18 receives first parameter signal 26 and estimates 12 pairs of Prediction Parameters signals 30 from the response of the control signal 28 of first controller 16 of wind turbine generator from the control signal 28 and the generation of first controller 16.Delay circuit 32 produces second parameter signal 38 of the output that indexes the wind turbine generator 12 after wind turbine generator 12 is in response to control signal 28.The parameter signal 30 of feeder loop 34 comparison prediction and second parameter signal 38, if and predetermined threshold (between the parameter signal 30 of for example time lag or prediction and second parameter signal 38 maximum different) do not satisfy, comparator 36 transmits feedback signals 40 and gets back to second controller 18 so.Feedback signal 40 updates stored in data in second controller 18 and/or sequencing module then to become more meticulous or to improve the ability of the accurately response of 12 pairs of control signals 28 of prediction wind turbine generators of second controller 18 (that is, reducing the parameter signal 30 predicted and the difference between second parameter signal 38).System 10 continues to operate in circulation subsequently, and wherein first controller, the 16 adjustment wind turbine generators 12 and second controller 18 receive other feedback signal 40 up to satisfying predetermined threshold.
When satisfying predetermined threshold, comparator 36 sends signals 42 switching the one 16 and the 2 18 controller in the operation of cycle period subsequently, as shown in figure 2.Second or cycle period subsequently, second controller 18 receives now from the input signal 20 of input device 14 with from first parameter signal 26 of wind turbine generator 12 and generate control signal 28 and give wind turbine generator 12.Second or cycle period subsequently, first controller 16 receives from first parameter signal 26 of wind turbine generator 12 with from the control signal 28 of second controller 18 and the parameter signal 30 of generation forecast.Delay circuit 32 generates second parameter signal 38, as discussing before, and feeder loop 34 relatively second parameter signal 38 with from the parameter signal 30 of the prediction of first controller 16 to generate feedback signal 40.This second or cycle period subsequently, if predetermined threshold does not satisfy, comparator 36 transmits feedback signals 40 and gets back to first controller 16.So, second or cycle period subsequently, second controller 18 adjust the operation of wind turbines 12 and first controller, 16 receiving feedback signals 40 to become more meticulous or to improve the accurately abilities of the response of 12 pairs of control signals 38 of prediction wind turbine generators of first controller 16.When predetermined threshold second or when cycle period satisfies subsequently, comparator 36 sends signals 42 to switch 44, and communication line switches and get back to configuration as illustrated in fig. 1, and process repeats.
Fig. 3 and 4 illustrates the system 50 that is used to control machine 52 according to alternative of the present invention.This system 50 also comprises the input device of discussing as before 54.In addition, this system 50 comprises controller 56, first model 58 and second model 60.This controller 56, first model 58 and second model 60 can comprise processor and/or storage/medium element, as discussing about description and the illustrated the 1 and the 2 18 controller in Fig. 1 and 2 before.
In the embodiment shown in Fig. 3 and 4, controller 56 receives from the input signal 62 of input device 54 with from first parameter signal 64 of machine 52.This first parameter signal 64 is passed on the parameter of the measurement of the machine 52 that obtains in the very first time, for example voltage or electric current etc.Controller 56 generates demand signal 66, and it seeks the needed information of control signal 68 (it will change first parameter signal 64 makes it equal input signal 62) that generates.For example, if input signal 62 is passed on the desired speed of 500rpm, and the measuring speed of first parameter signal, 64 reception and registration 450rpm, demand signal 66 is sought and can be used to generate control signal 68 actual velocity is changed to the information of 500rpm from 450rpm.
In first cycle period, first model 58 receives the data of the demand signal 66 of self-controller 56 and visit storage and/or instruction to generate response signal 70.This response signal 70 conveys a message and makes controller 56 can generate the desirable operational parameters that control signal 68 makes its coupling be passed on by input signal 62 with the output that changes machine 52 to controller 56.
First cycle period haply side by side, second model 60 receives from first parameter signal 64 of machine 52 and the control signal 68 of coming self-controller 56.The data of second model, 60 visit storages and/or instruction are to generate the Prediction Parameters signal 72 of the response of estimating 52 pairs of control signals 68 of machine.
As shown in Figure 4, second or cycle period subsequently, second model 60 receives the demand signal 66 of self-controller 56 and generates response signals 70 based on demand signal 66.Second or cycle period subsequently, first model 58 receives from first parameter signal 64 of machine 52 and comes the control signal 68 of self-controller 56 and the parameter signal 72 of generation forecast.This second or cycle period subsequently, if predetermined threshold does not satisfy, comparator 78 transmits feedback signals 82 to first models 58.So, second or cycle period subsequently, controller 56 is based on the operating parameter of the information adjustment machine 52 that is provided by second model 60, and first model, 58 receiving feedback signals 82 are to become more meticulous or to improve first model 58 and accurately predict the abilities of machines to the response of control signal 68.As discussing about illustrated embodiment in Fig. 1 and 2 before, but the size of the predetermined threshold time lag, feedback signal or indicate first model 58 accurately the prediction machines to other tolerance of the ability of the response of control signal 68.
Fig. 5 and 6 illustrates another embodiment of the system 90 that is used to control machine 92.This system 90 also comprises input device 94, controller 96, first model 98 and second model 100, as before about discussing in the embodiment shown in Fig. 3 and 4.In the embodiment shown in Fig. 5 and 6, first model 98 receives from the input signal 102 of input device 94 with from first parameter signal 104 of machine 92.The data of first model, 98 visit storages and/or instruction are to produce response signal 106 based on the input signal 102 and first parameter signal 104.For example, if input signal 102 is passed on the desired speed of 100rpm, and first parameter signal is passed on the measuring speed of 110rpm, first model 98 generates response signal 106 and gives controller 96, and it comprises that generating appropriate control signals 108 for controller 96 changes to the 100rpm information necessary with the service speed with machine from 110rpm.
First cycle period haply side by side, second model 100 receives from first parameter signal 104 of machine and the control signal 108 of coming self-controller 96.The Prediction Parameters signal 112 of the estimation of second model 100 of 92 pairs of control signals 108 of machine are represented in the data of second model, 100 visit storages and/or instruction with generation response.
System also comprises delay circuit 114, feeder loop 116 and comparator 118, as before about describing in the embodiment shown in Fig. 1 to 4.This delay circuit 114 produces second parameter signal 120 of second time that indexed, and this second parameter signal 120 is corresponding to the parameter that has received at machine 92 and measured according to control signal 108 action backs.This feeder loop 116 is second parameter signal 120 and parameter signal of predicting 112 and generation feedback signal 122 relatively.If satisfying this comparator 118, predetermined threshold do not transmit these feedback signal 122 to second controllers 100.This feedback signal 122 becomes more meticulous the data of storage in second model 100 and/or instruction to allow second model 100 to predict the response of 92 pairs of control signals 108 of machine more accurately.System 90 continues to operate in circulation subsequently, wherein first model 98 provide response signal 106 to controller 96 and second model 100 provide Prediction Parameters signal 112 to feeder loop 116 up to satisfying predetermined threshold.When satisfying predetermined threshold, comparator 118 sends signal 124 and arrives switch 126 with change as shown in fig. 6 communication line between system's 90 parts.
As shown in fig. 6, second or cycle period subsequently, second model 100 receives from the input signal 102 of input device 94 with from first parameter signal 104 of machine 92.The data of second model, 100 visit storages and/or instruction are to generate response signal 106 based on the input signal 102 and first parameter signal 104.Second or cycle period subsequently, first model 98 receives from first parameter signal 104 of machine 92 and the control signal 108 of coming self-controller 96.The data of first model, 98 visit storages and/or instruction are with the response of 92 pairs of control signals 108 of prediction machine and the parameter signal 112 of generation forecast.So, controller 96 is based on the operating parameter of the information adjustment machine 92 that is provided by second model 100, and first model, 98 receiving feedback signals 122 are accurately predicted the abilities of machines to the response of control signal 108 to improve first model 98.When satisfying predetermined threshold, comparator 118 transmits signal 124 to switch 126, and the change of the communication line between controller 96, first model 98 and second model 100 is got back to as shown in fig. 5.
As previously described, each embodiment of the present invention allows the synchronous simultaneously renewal second of operating parameter or the alternative controller or the model of system control machine device.So, the system's operating parameter that can adjust machine exactly upgrades simultaneously synchronously second controller or model with the variation in the operation that is reflected in machine.As a result, system can switch the variation in the operating characteristics that the system that makes can keep being updated to machine reliably and not require any interruption in the machine operation between first controller and second controller or first model and second model.
This written explanation usage example is with open the present invention, and it comprises optimal mode, and makes those skilled in that art can put into practice the present invention, comprises and makes and use any method that comprises of any device or system and execution.Patentable scope of the present invention is defined by the claims, and can comprise other examples that those skilled in that art expect.If they comprise not different with the written language of claim structural elements other examples like this, if perhaps they comprise that written language with claim does not have the equivalent structure element of substantive difference then stipulates within the scope of the claims.
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Claims (10)
1. system (10) that is used to control machine (12), it comprises:
A. input signal (20), wherein said input signal (20) is passed on the desirable operational parameters of described machine (12);
B. first parameter signal (26), wherein said first parameter signal (26) is passed on the measurement parameter of the described machine (12) that obtains in the very first time;
C. first controller (16), wherein in first cycle period, described first controller (16) receives described input signal (20) and described first parameter signal (26) and generates control signal (28) based on described input signal (20) and described first parameter signal (26) gives described machine (12);
D. second controller (18), wherein in described first cycle period, described second controller (18) receives described first parameter signal (26) and described control signal (28) and based on the parameter signal (30) of described first parameter signal (26) and described control signal (28) generation forecast;
E. second parameter signal (38), wherein said second parameter signal (38) is passed on the measurement parameter of the described machine (12) that obtains in second time;
F. feeder loop (34), wherein said feeder loop (34) receive the parameter signal (30) of described second parameter signal (38) and described prediction and based on parameter signal (30) the generation feedback signal (40) of described second parameter signal (38) and described prediction; And
G. comparator (36), wherein in first cycle period, described comparator (36) receive described feedback signal (40) and if predetermined threshold do not satisfy then transmit feedback signal (40) to described second controller (18).
2. the system as claimed in claim 1 (10), if when wherein described predetermined threshold satisfied in described first cycle period, described comparator (36) switches described first controller (16) and described second controller (18), makes in second cycle period:
A. described second controller (18) receives described input signal (20) and described first parameter signal (26) and generates described control signal (28) based on described input signal (20) and described first parameter signal (26) gives described machine (12);
B. described first controller (16) receives described first parameter signal (26) and described control signal (28) and based on the parameter signal (30) of described first parameter signal (26) and described control signal (28) generation forecast; And
Described comparator (36) transmits described feedback signal (40) to described first controller (16) if c. described predetermined threshold does not satisfy.
3. the system as claimed in claim 1 (10), at least one in wherein said first controller (16) or described second controller (18) comprises the sequencing module of the parameter signal (30) that generates described prediction.
4. system as claimed in claim 3 (10), wherein said feedback signal (40) is revised the sequencing module of the parameter signal (30) that generates described prediction.
5. the system as claimed in claim 1 (10), wherein said predetermined threshold is the time lag.
6. the system as claimed in claim 1 (10), wherein said predetermined threshold is the size accepted of described feedback signal (40).
7. method that is used to control machine (12), it comprises:
A. at very first time measurement parameter to determine first parameter value;
B. more described first parameter value and expected value;
C. in first circulation, from first controller (16) transmit control signal (28) to described machine (12) to change described first parameter value;
D. in the described parameter of second time measurement to determine second parameter value;
E. in described first circulation, in second controller (18) based on the parameter value of described first parameter value and described control signal (28) generation forecast;
F. the parameter value of more described prediction and described second parameter value;
G. parameter value and described second parameter value based on described prediction generates feedback signal (40); And
H. in described first circulation,, predetermined threshold transmits described feedback signal (40) to described second controller (18) if not satisfying.
8. method as claimed in claim 7 further comprises based on described feedback signal (40) and revises described second controller (18).
9. method as claimed in claim 7 further comprises if described predetermined threshold when satisfying in described first cycle period, switches described first controller (16) and described second controller (18), and further was included in for second cycle period:
A. send control signal (28) from described second controller (18) to described machine (12);
B. in described first controller (16) based on the parameter value of described first parameter value and described control signal (28) generation forecast; And
If c. described predetermined threshold does not satisfy, transmit described feedback signal (40) to described first controller (16).
10. method as claimed in claim 9 further comprises based on described feedback signal (40) and revises described first controller (16).
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| US12/639428 | 2009-12-16 | ||
| US12/639,428 US8073556B2 (en) | 2009-12-16 | 2009-12-16 | System and method for controlling a machine |
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| US (2) | US8073556B2 (en) |
| EP (1) | EP2339416B1 (en) |
| CN (1) | CN102102625B (en) |
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| ES (1) | ES2664125T3 (en) |
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| NL2010258C2 (en) * | 2012-12-12 | 2014-06-02 | Dotx Control Solutions B V | Method of controlling a process with a control signal, computer program, computer program product and control system for controlling a process with a control signal. |
| TWI528123B (en) * | 2013-11-25 | 2016-04-01 | 財團法人資訊工業策進會 | Embedded system, fool-proof control method and computer-readable storage medium |
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Also Published As
| Publication number | Publication date |
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| EP2339416A2 (en) | 2011-06-29 |
| US8073556B2 (en) | 2011-12-06 |
| US20110144774A1 (en) | 2011-06-16 |
| EP2339416A3 (en) | 2013-11-20 |
| EP2339416B1 (en) | 2018-02-21 |
| CN102102625B (en) | 2014-12-03 |
| US8989877B2 (en) | 2015-03-24 |
| DK2339416T3 (en) | 2018-03-26 |
| ES2664125T3 (en) | 2018-04-18 |
| US20120078390A1 (en) | 2012-03-29 |
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